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Dockerfile.ros.foxy
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Dockerfile.ros.foxy
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#
# this dockerfile roughly follows the 'Install ROS From Source' procedures from:
# https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Development-Setup/
#
ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0
FROM ${BASE_IMAGE}
ARG ROS_PKG=ros_base
ENV ROS_DISTRO=foxy
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
ENV ROS_PYTHON_VERSION=3
ENV DEBIAN_FRONTEND=noninteractive
ENV SHELL /bin/bash
SHELL ["/bin/bash", "-c"]
WORKDIR /tmp
# change the locale from POSIX to UTF-8
RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG=en_US.UTF-8
ENV PYTHONIOENCODING=utf-8
#
# add the ROS deb repo to the apt sources list
#
RUN apt-get update && \
apt-get install -y --no-install-recommends \
curl \
wget \
gnupg2 \
lsb-release \
ca-certificates \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
#
# install development packages
#
RUN apt-get update && \
apt-get install -y --no-install-recommends \
build-essential \
cmake \
git \
libbullet-dev \
libpython3-dev \
python3-colcon-common-extensions \
python3-flake8 \
python3-pip \
python3-numpy \
python3-pytest-cov \
python3-rosdep \
python3-setuptools \
python3-vcstool \
python3-rosinstall-generator \
libasio-dev \
libtinyxml2-dev \
libcunit1-dev \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean
# install some pip packages needed for testing
RUN python3 -m pip install -U \
argcomplete \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures \
pytest
#
# install OpenCV (with CUDA)
#
ARG OPENCV_URL=https://nvidia.box.com/shared/static/2hssa5g3v28ozvo3tc3qwxmn78yerca9.gz
ARG OPENCV_DEB=OpenCV-4.5.0-aarch64.tar.gz
RUN apt-get purge -y '*opencv*' || echo "previous OpenCV installation not found" && \
mkdir opencv && \
cd opencv && \
wget --quiet --show-progress --progress=bar:force:noscroll --no-check-certificate ${OPENCV_URL} -O ${OPENCV_DEB} && \
tar -xzvf ${OPENCV_DEB} && \
dpkg -i --force-depends *.deb && \
apt-get update && \
apt-get install -y -f --no-install-recommends && \
dpkg -i *.deb && \
rm -rf /var/lib/apt/lists/* && \
apt-get clean && \
cd ../ && \
rm -rf opencv && \
PYTHON3_VERSION=`python3 -c 'import sys; version=sys.version_info[:3]; print("{0}.{1}".format(*version))'` && \
cp -r /usr/include/opencv4 /usr/local/include/opencv4 && \
cp -r /usr/lib/python${PYTHON3_VERSION}/dist-packages/cv2 /usr/local/lib/python${PYTHON3_VERSION}/dist-packages/cv2
#
# upgrade cmake - https://stackoverflow.com/a/56690743
# this is needed to build some of the ROS2 packages
#
RUN apt-get update && \
apt-get install -y --no-install-recommends \
software-properties-common \
apt-transport-https \
ca-certificates \
gnupg \
lsb-release \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean
RUN wget -qO - https://apt.kitware.com/keys/kitware-archive-latest.asc | apt-key add - && \
apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" && \
apt-get update && \
apt-get install -y --no-install-recommends --only-upgrade \
cmake \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean
RUN cmake --version
#
# compile yaml-cpp-0.6, which some ROS packages may use (but is not in the 18.04 apt repo)
#
RUN git clone --branch yaml-cpp-0.6.0 https://github.com/jbeder/yaml-cpp yaml-cpp-0.6 && \
cd yaml-cpp-0.6 && \
mkdir build && \
cd build && \
cmake -DBUILD_SHARED_LIBS=ON .. && \
make -j$(nproc) && \
cp libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/ && \
ln -s /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6
#
# download/build ROS from source
#
RUN mkdir -p ${ROS_ROOT}/src && \
cd ${ROS_ROOT} && \
# https://answers.ros.org/question/325245/minimal-ros2-installation/?answer=325249#post-id-325249
rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PKG} \
launch_xml \
launch_yaml \
launch_testing \
launch_testing_ament_cmake \
demo_nodes_cpp \
demo_nodes_py \
example_interfaces \
camera_calibration_parsers \
camera_info_manager \
cv_bridge \
v4l2_camera \
vision_opencv \
vision_msgs \
image_geometry \
image_pipeline \
image_transport \
compressed_image_transport \
compressed_depth_image_transport \
> ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \
cat ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \
vcs import src < ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \
# install dependencies using rosdep
apt-get update && \
cd ${ROS_ROOT} && \
rosdep init && \
rosdep update && \
rosdep install -y \
--ignore-src \
--from-paths src \
--rosdistro ${ROS_DISTRO} \
--skip-keys "libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" && \
rm -rf /var/lib/apt/lists/* && \
apt-get clean && \
# build it!
colcon build \
--merge-install \
--cmake-args -DCMAKE_BUILD_TYPE=Release && \
# remove build files
rm -rf ${ROS_ROOT}/src && \
rm -rf ${ROS_ROOT}/logs && \
rm -rf ${ROS_ROOT}/build && \
rm ${ROS_ROOT}/*.rosinstall
#
# fix broken package.xml in test_pluginlib that crops up if/when rosdep is run again
#
# Error(s) in package '/opt/ros/foxy/build/pluginlib/prefix/share/test_pluginlib/package.xml':
# Package 'test_pluginlib' must declare at least one maintainer
# The package node must contain at least one "license" tag
#
#RUN TEST_PLUGINLIB_PACKAGE="${ROS_ROOT}/build/pluginlib/prefix/share/test_pluginlib/package.xml" && \
# sed -i '/<\/description>/a <license>BSD<\/license>' $TEST_PLUGINLIB_PACKAGE && \
# sed -i '/<\/description>/a <maintainer email="michael@openrobotics.org">Michael Carroll<\/maintainer>' $TEST_PLUGINLIB_PACKAGE && \
# cat $TEST_PLUGINLIB_PACKAGE
#
# Set the default DDS middleware to cyclonedds
# https://github.com/ros2/rclcpp/issues/1335
#
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
#
# setup entrypoint
#
COPY ./packages/ros_entrypoint.sh /ros_entrypoint.sh
RUN sed -i \
's/ros_env_setup="\/opt\/ros\/$ROS_DISTRO\/setup.bash"/ros_env_setup="${ROS_ROOT}\/install\/setup.bash"/g' \
/ros_entrypoint.sh && \
cat /ros_entrypoint.sh
RUN echo 'source ${ROS_ROOT}/install/setup.bash' >> /root/.bashrc
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
WORKDIR /